CN216399695U

CN216399695U - Power module and robot

Info

Publication number: CN216399695U
Application number: CN202120582377.8U
Authority: CN
Inventors: 赵同阳
Original assignee: Shenzhen Pengxing Intelligent Research Co Ltd
Current assignee: Shenzhen Pengxing Intelligent Research Co Ltd
Priority date: 2021-03-22
Filing date: 2021-03-22
Publication date: 2022-04-29
Anticipated expiration: 2031-03-22

Abstract

The application discloses power module and robot. The power module comprises a stator unit and a rotor unit, and the rotor unit is rotatably arranged relative to the stator unit. The power module is provided with a through hole which penetrates through the stator unit and the rotor unit and extends along the rotation axis of the rotor unit. The power module further comprises a first encoder magnet connected with the rotor unit, and a plurality of Hall elements connected with the stator unit and arranged opposite to the first encoder magnet. The power module in the application has the advantages that through holes penetrating through the stator unit and the rotor unit are formed in the power module, so that cables penetrating through the power module cannot rotate along with the rotation of the rotor unit, the interference of the cables on the movement of a robot can be avoided, and potential safety hazards caused by winding of the cables can be prevented; simultaneously, the number of turns of the rotor unit can be detected by the cooperation of the plurality of Hall elements and the first encoder magnet, so that the rotation of the rotor can be accurately controlled on the basis of the power module with the hollow structure.

Description

Power module and robot

Technical Field

The application relates to the technical field of robots, in particular to a power module and a robot.

Background

In a robot, a power module is generally used to drive the robot. For example, in a robot, a power module may be mounted at a joint of the robot, the power module constituting the joint of the robot to drive the robot to move. The power module can drive the next-stage component to rotate, and under the condition that the next-stage component needs to be connected with the cable, the cable of the next-stage component can be wound, abraded and the like along with the rotation of the component. In the related art, in order to solve the problems of cable winding, abrasion and the like, the power module may form a hollow structure, that is, a through hole for the cable to pass through is formed in the center of the power module, so that the cable does not move along with the power module and the component driven by the power module. However, in the power module with a hollow structure, the number of turns of the rotor in the power module cannot be measured, so that the rotation of the rotor cannot be accurately controlled.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a power module and a robot.

The embodiment of the application provides a power module. The power module includes stator unit and rotor unit, the rotor unit is relative the stator unit rotates and sets up, the through-hole has been seted up to the power module, the through-hole runs through the stator unit with the rotor unit, the through-hole is followed the axis of rotation of rotor unit extends, the power module still include with rotor unit connects first encoder magnet and with stator unit connect and with a plurality of hall element that first encoder magnet set up relatively, a plurality of hall element wind the angle settings such as the axis of rotation of rotor unit, a plurality of hall element with first encoder magnet cooperation detects the number of turns of rotor unit.

In the power module of this application embodiment, stator unit and the cooperation of rotor unit are used for being responsible for power generation, set up the through-hole that runs through stator unit and rotor unit on the power module, and the through-hole extends along the axis of rotation of rotor unit, and the through-hole can be so that pass the power module cable and can not rotate along with the rotor unit rotation, not only can avoid the cable to cause the interference to the motion of robot, can also prevent the cable winding and the potential safety hazard that brings. Meanwhile, the first encoder magnet is matched with the Hall elements to detect the number of turns of the rotor unit, so that the rotation of the rotor can be accurately controlled on the basis of the power module with a hollow structure; furthermore, the plurality of Hall elements are arranged at equal angles around the rotating axis of the rotor unit, so that the plurality of Hall elements are kept away from the through holes, and the interference between the through holes and the plurality of Hall elements is avoided.

In some embodiments, the power module includes a second encoder magnet and a circuit board assembly, the through hole penetrates through the second encoder magnet and the circuit board assembly, and the circuit board assembly and the second encoder magnet cooperate to detect the number of turns and the rotation angle of the rotor unit.

In some embodiments, the circuit board assembly includes a first circuit board and an encoder chip disposed on the first circuit board, the encoder chip cooperating with the second encoder magnet to detect a number of rotations and a rotation angle of the rotor unit.

In some embodiments, the power module includes a second circuit board stacked with the first circuit board, the plurality of hall elements are disposed on the second circuit board, and the through holes penetrate through the second circuit board.

In some embodiments, the power module includes a driving circuit board stacked on the circuit board assembly, the driving circuit board is configured to drive the rotor unit to rotate, and an accommodating space is formed between the driving circuit board and the circuit board assembly.

In some embodiments, the power module includes a battery disposed on the driving circuit board and located in the accommodating space, and the battery is used for supplying power to the circuit board assembly.

In some embodiments, the rotor unit includes a rotor magnet and a rotor support connected to the rotor magnet, the power module includes a speed reducer unit connected to the rotor support, the speed reducer unit includes a gear assembly including a sun gear and a planet gear engaged with the sun gear, the sun gear is connected to the rotor support, and the through hole penetrates through the sun gear.

In some embodiments, the gear assembly further comprises an annulus surrounding the sun gear and the planet gears, the planet gears comprising a first stage gear and a second stage gear connected to the first stage gear, the first stage gear being connected to the sun gear, the second stage gear being connected to the annulus, the first stage gear having a diameter greater than a diameter of the second stage gear.

In some embodiments, the number of the planet wheels is multiple, the plurality of planet wheels are arranged around the sun wheel at intervals, the gear assembly comprises a planet wheel support, the plurality of planet wheels are mounted on the planet wheel support, the power module comprises a flange plate, the flange plate is connected with the planet wheel support through a pin shaft, and the pin shaft protrudes out of the surface, far away from the planet wheel support, of the flange plate.

In some embodiments, the power module includes a housing unit, the housing unit includes a housing and an end cap mounted on the housing, the ring gear is mounted on the end cap, the flange is rotatably disposed with respect to the end cap, the stator unit is disposed in the housing and fixedly disposed with the housing, the flange is connected with the end cap through a bearing, the housing unit includes a threaded cap detachably connected to the end cap, and the threaded cap abuts against the bearing to limit the bearing from moving in a direction away from the rotor unit.

The robot in this application embodiment includes main part, first power module and second power module, wherein first power module with the main part is connected, first power module includes the power module of any one above-mentioned embodiment, the second power module with first power module is connected, second power module includes the cable, the cable passes through the through-hole with the main part is connected.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a perspective view of a power module according to an embodiment of the present disclosure;

FIG. 2 is an exploded schematic view of a power module according to an embodiment of the present disclosure;

FIG. 3 is a schematic cross-sectional view of a power module according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of the connection of the gear assembly of the present application to the lower end cap;

fig. 5 is a schematic view of a connection structure of a planet wheel carrier and a flange plate according to an embodiment of the present application;

FIG. 6 is a schematic structural view of a second endcap of an embodiment of the present application;

FIG. 7 is a perspective view of another angle of the power module of the present application;

FIG. 8 is a perspective view of a robot according to an embodiment of the present application;

fig. 9 is a schematic connection diagram of a first power module and a second power module according to an embodiment of the present disclosure.

Description of the main element symbols:

robot 1000, power module 100, main body 200, first power module 300, second power module 400, third power module 500, execution component 600, housing unit 10, housing 11, first side 110, second side 111, second end cover 12, through hole 121, wire guide 122, connection hole 123, annular wall 124, threaded hole 125, protrusion 126, first end cover 13, threaded cover 14, inner surface 140, stator unit 15, rotor unit 16, rotor iron ring 160, rotor magnet 161, rotor support 162, positioning column 1621, fan blade structure 1622, speed reducer unit 17, gear assembly 171, sun gear 172, planet wheel 173, first stage gear 1730, second stage gear 1731, ring gear 174, planet wheel support 175, first accommodation groove 1750, second accommodation groove 1751, mounting hole 1752, mounting hole 1753, pin 18, flange 19, fixing hole 190, mounting column 191, bearing 20, first magnet encoder 21, first accommodation groove 1750, second accommodation groove 1751, mounting hole 1752, mounting hole 1753, pin shaft 18, flange 19, fixing hole 190, mounting column 191, bearing 20, and the like, The Hall element 22, the second encoder magnet 23, the circuit board assembly 24, the first circuit board 25, the second circuit board 26, the driving circuit board 27, the accommodating space 270, the connecting wire 28, the battery 29, the hollow tube 30, the adapter 31, the hollow tube bearing 32, the end cap 40, the cable 41 and the positioning hole 42.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

Referring to fig. 1, 2 and 3, in an embodiment of the present application, a power module 100 is provided, where the power module 100 includes a stator unit 15 and a rotor unit 16, and the rotor unit 16 is rotatably disposed relative to the stator unit 15. The power module 100 is provided with a through hole 121, the through hole 121 can penetrate through the stator unit 15 and the rotor unit 16, and the through hole 121 extends along the rotation axis of the rotor unit 16.

The power module 100 further comprises a first encoder magnet 21 and a plurality of hall elements 22, the first encoder magnet 21 is connected with the rotor unit 16, the hall elements 22 are arranged around the rotation axis of the rotor unit 16 at equal angles, and the hall elements 22 can be matched with the first encoder magnet 21 to detect the rotation number of the rotation unit.

In this manner, the stator unit 15 and the rotor unit 16 may cooperate to be responsible for power generation of the power module 100, through the through hole 121 formed on the power module 100 and penetrating through the stator unit 15 and the rotor unit 16, so that the cable 41 passing through the power module 100 does not rotate along with the rotation of the rotor unit 16, which not only can avoid the interference of the cable 41 to the movement of the robot 1000, but also can prevent the potential safety hazard caused by the winding of the cable 41, and, by arranging a plurality of hall elements 22 to cooperate with the first encoder magnet 21, the power module 100 can detect the number of turns of the rotor unit 16, so that the rotation of the rotor can be accurately controlled on the basis of the power module 100 having a hollow structure, and furthermore, the plurality of hall elements 22 are disposed at equal angles around the rotation axis of the rotor unit 16, this allows the plurality of hall elements 22 to avoid the positions of the through holes 121, avoiding the interference of the through holes 121 with the plurality of hall elements 22.

The robot 1000 (fig. 8) in the present application is a four-legged robot. In the design of the robot 1000, the power module 100 may serve as a joint of the robot 1000, so that the robot 1000 may be driven to travel on the ground at a stable speed, and the like, and for mass production, the structural design of the power module 100 is usually secondary finish machining after die casting, so the blank design of the joint engine structural member should also be designed as a design principle for secondary finish machining.

The stator unit 15 and the rotor unit 16 in the power module 100 are responsible for power generation of the power module 100, and constitute a basic structure of the outer rotor brushless motor. Wherein the rotor unit 16 is rotatably disposed relative to the stator unit 15, and since the power module 100 is further provided with a through hole 121 penetrating through the stator unit 15 and the rotor unit 16, the stator unit 15 and the rotor unit 16 may be both in a hollow ring design.

The stator unit 15 refers to a stationary portion of the power component of the power module 100. The stator unit 15 comprises a coil, which may be made of copper wire, and the main function of the stator unit 15 is to generate a magnetic field. The rotor unit 16 is a rotating component of the power module 100, the rotor unit 16 includes a rotor iron ring 160 and a rotor magnet 161, the rotor magnet 161 includes a plurality of sheet magnets distributed with gaps to form a circular ring, and the rotor unit 16 mainly functions to be cut by magnetic lines of force in a rotating magnetic field to generate a rotating motion.

In particular, since the robot 1000 is composed of a plurality of power modules 100, the problem of wiring between the plurality of motors needs to be considered. In the past embodiment, in two power modules 100 connected in series, the first power module 100 drives the second power module 100 to integrally rotate, and the related wires of the second power module 100 generally need to be exposed, so because the wires are located in the range of the motion space of the joint of the robot 1000, in the process that the first power module 100 drives the second power module 100 to integrally drive, the wires of the second power module 100 can move together, and the wires can easily rub against the body, generate noise or form hidden dangers during movement, and can often be physically pulled and extruded by the external environment to cause damage to the external wires.

Therefore, in the present embodiment, the through hole 121 is provided to penetrate through the stator unit 15 and the rotor unit 16 and extend along the rotation axis of the rotor unit 16, so that the cable 41 passing through the power module 100 does not rotate along with the rotation of the rotor unit 16, which not only prevents the cable 41 from interfering with the movement of the robot 1000, but also prevents potential safety hazards caused by the cable 41 being wound.

The power module 100 further includes a first encoder magnet 21 and a hall element 22, and it can be easily understood that in the power module 100 of the robot 1000, an encoder is usually required to measure the magnetic pole position to measure the relevant rotation information of the motor. In this embodiment, the hall element 22 is arranged to cooperate with the first encoder magnet 21 to detect the number of rotations of the rotor unit 16.

The hall element 22 is a magnetic sensor made of a semiconductor material based on the hall effect principle. Since the hall element 22 operates by inducing a magnetic field, the first encoder magnet 21 can provide the hall element 22 with a magnetic field.

Further, since the first encoder magnet 21 is connected to the rotor unit 16, the rotation of the rotor unit 16 drives the first encoder magnet 21 to rotate. And hall element 22 is connected with stator unit 15, and sets up with first encoder magnet 21 relatively, that is to say hall element 22 is fixed motionless relative to first encoder magnet 21, and hall element 22 can sense the change of the magnetic pole position that first encoder magnet 21 rotated and brought so that can cooperate with first encoder magnet 21 and detect the number of turns of rotor unit 16.

In the power module 100, a speed reducer (such as the speed reducer unit 17 mentioned below) is also generally provided, and the speed reducer can be connected to the rotor unit 16, so that if the transmission ratio, i.e. the speed reduction ratio, of the speed reducer is known, if the same number of hall elements 22 as the speed reduction ratio is provided, the number of turns of the rotor unit 16 that can be measured by the hall elements 22 can be converted according to the speed reduction ratio.

For example, in this embodiment, the power module 100 may adopt a 6-time reduction ratio, and accordingly, the number of the hall elements 22 is 6, the 6-time reduction ratio means that the rotor unit 16 rotates by 6 0-360 degrees, and the final power module 100 outputs 1 rotation by 0-360 degrees, and in this application, the final output position of the power module 100 needs to be determined, in order to measure the specific number of output turns, the first encoder magnet 21 that cooperates with the hall element 22 to detect the number of turns of the rotor unit 16 may be connected to the speed reducer, and at this time, the hall element 22 may cooperate with the first encoder magnet 21 to directly detect the number of turns of the final output of the power module 100.

In the above scenario, when it is detected that the magnetic force lines of the first encoder magnet 21 pass through the two adjacent hall elements 22, which means that the final output of the power module 100 has 1/6 rotations, the rotation number of the rotor unit 16 is 1 rotation ((1/6) × 6 ═ 1) by the reduction ratio conversion. In order to make the accuracy of detecting the number of rotations of the rotor unit 16 higher, 12 hall elements 22 may be selected, and then when it is detected that the magnetic lines of force of the first encoder magnet 2121 pass through two adjacent hall elements 22, which means that the number of rotations of the power module 100 is 1/12, the number of rotations of the rotor unit 16 is 1/2 ((1/12) × 6 ═ 1/2) by the reduction ratio conversion, in the case where the reduction ratio is also 6 times.

Thus, the number of rotations of the rotor unit 16 can be determined based on the hall elements 22 and the first encoder magnet 21 based on the reduction ratio and the number of hall elements 22.

In particular, when the plurality of hall elements 22 are disposed, they need to be uniformly distributed around the rotation axis of the rotor unit 16 at equal angles, so that when the magnetic lines of force generated by the first encoder magnet 21 can be sensed by two adjacent hall elements 22, the area where the first encoder magnet 21 is located can be distinguished according to the values of the hall elements 22 uniformly distributed in a ring shape, so as to judge the area where the rotor unit 16 passes, thereby determining the number of rotation turns of the rotor unit 16.

For example, when the number of the hall elements 22 is 6 and the power module 100 can adopt a 6-fold speed reduction ratio, the number of the hall elements 22 is sequentially numbered as hall sensors 0 to 5. When the power module 100 is in the initial position, the hall element No. 0 22 may be aligned with the first encoder magnet 21, and when the first encoder magnet 21 is aligned with the hall element No. 122, it indicates that 1/6 revolutions of the speed reducer are output, so that the rotor unit 16 makes one revolution; by analogy, for example, when the first encoder magnet 21 is aligned with the hall element No. 4 22, it is said that the rotor unit 16 rotates 4 turns. This determines the number of turns of the rotor unit 16.

Referring to fig. 2 and 3, in some embodiments, the power module 100 may include a second encoder magnet 23 and a circuit board assembly 24, wherein the through hole 121 penetrates the second encoder magnet 23 and the circuit board assembly 24. The circuit board assembly 24 can detect the number of rotations and the rotation angle of the rotor unit 16 in cooperation with the second encoder magnet 23.

Thus, the second encoder magnet 23 and the circuit board assembly 24 are arranged, so that the number of rotation turns and the rotation angle of the rotor unit 16 in the power module 100 can be conveniently and accurately detected.

Specifically, the stator unit 15 and the rotor unit 16 are responsible for power generation of the power module 100, and constitute a basic structure of an outer rotor brushless motor, and according to the driving principle of the brushless motor, the precise absolute positions of the stator unit 15 and the rotor unit 16 are required to be known when the brushless motor rotates normally. Then, the circuit board assembly 24 in the embodiment of the present application may detect the rotation angle of the rotor unit 16 in cooperation with the second encoder magnet 23, thereby obtaining an accurate absolute position of the stator unit 15 and the rotor unit 16 so that the brushless motor may normally rotate. Furthermore, the circuit board assembly 24 can cooperate with the second encoder magnet 23 to detect the number of rotations of the rotor unit 16, so that the rotation of the rotor unit 16 can be accurately controlled.

In particular, since the through hole 121 penetrates the second encoder magnet 23 and the circuit board assembly 24, it can be easily understood that it is necessary to design both the second encoder magnet 23 and the circuit board assembly 24 in a hollow ring shape.

Referring to fig. 2 and 3, in some embodiments, the circuit board assembly 24 includes a first circuit board 25 and an encoder chip (not shown) disposed on the first circuit board 25, and the encoder chip cooperates with the second encoder magnet 23 to detect the number of turns and the angle of rotation of the rotor unit 16.

In this way, the encoder chip integrated with multiple functions can be matched with the second encoder chip to detect the number of rotations and the rotation angle of the rotor unit 16.

Specifically, as described above, according to the brushless motor driving principle, the precise absolute position of the stator unit 15 and the rotor unit 16 is required to be known when the brushless motor rotates normally, and the encoder chip on the circuit board assembly 24 can be used as a motor end encoder chip to cooperate with the second encoder magnet 23 to form a motor end absolute position encoding device, i.e. a motor end encoder, with an annular hollow structure, for providing the absolute position relationship between the motor rotor unit 16 and the stator unit 15. However, it should be noted that in the prior art, the motor-side encoder is subject to its own physical principle, and can only feed back a value of 0 to 360 degrees without external power supply, i.e. return to zero after more than one turn (i.e. 360 degrees), so that it can only meet the requirement of accurately feeding back the stator unit 15 and the rotor unit 16 in the accurate range of 0 to 360 degrees, i.e. the motor-side encoder can only measure the rotation angle of the rotor unit 16, and cannot confirm the rotation number of the rotor unit 16.

The encoder chip in the embodiment of the present application may be integrated with a single hall sensor so that the encoder chip has a hall encoder function, and it can be easily understood that the encoder chip may measure the number of turns of the rotor unit 16 by measuring the magnetic pole position of the annular second encoder magnet 23. In addition, the circuit board assembly 24 may further include electrical components such as a counter and a register, which can record the number of turns measured by the encoder chip.

In this way, the power module 100 detects the number of turns and the rotation angle of the rotor unit 16 through the second encoder magnet 23 and the circuit board assembly 24, so as to determine the rotation angle and the number of turns output by the rotor unit 16.

It should be particularly noted that in the embodiment of the present application, namely, the rotation angle and the rotation number output by the rotor unit 16 can be determined by the cooperation of the plurality of hall elements 22 and the first encoder magnet 21, and the rotation number and the rotation angle of the rotor unit 16 can also be determined by the cooperation of the second encoder magnet 23 and the circuit board assembly 24, therefore, the power module 100 has two ways to detect the rotation number and the rotation angle of the rotor unit 16, and realizes a redundant design of detecting the rotation number and the rotation angle of the rotor unit 16, thereby avoiding that one way fails to determine the rotation number and the rotation angle of the rotor unit 16.

Referring to fig. 3, in some embodiments, the power module 100 includes a second circuit board 26 stacked with the first circuit board 25, the plurality of hall elements 22 may be disposed on the second circuit board 26, and the through holes 121 penetrate through the second circuit board 26.

Therefore, the first circuit board 25 and the second circuit board 26 are stacked, so that the structure of the power module 100 is more compact, the plurality of hall elements 22 arranged on the second circuit board 26 can be matched with the first encoder magnet 21 to be used as a guarantee measure when the circuit board assembly 24 is powered off, and the number of rotation turns of the rotor unit 16 can be continuously detected.

Specifically, since the through hole 121 penetrates through the second circuit board 26, the second circuit board 26 may be provided in a hollow ring shape, and the plurality of hall elements 22 are uniformly distributed on the second circuit board 26 at equal angles around the rotation axis of the rotor unit 16, so that magnetic lines of force generated by the first encoder magnet 21 can be sensed by two hall elements 22 that are adjacently provided.

Of course, the plurality of hall elements 22 may be selectively disposed on the first circuit board 25, and the embodiment of the present application does not limit the position where the plurality of hall elements 22 are disposed.

Referring to fig. 2 and 3, in some embodiments, the power module 100 may include a driving circuit board 27, and the driving circuit board 27 may be stacked with the circuit board assembly 24. The driving circuit board 27 is used for driving the rotor unit 16 to rotate, and an accommodating space 270 is formed between the driving circuit board 27 and the circuit board assembly 24.

In this way, by arranging the driving circuit board 27 to drive the stator unit 15 to generate a rotating magnetic field to interact with the rotor magnet 161 on the rotor unit 16, so as to drive the rotor unit 16 to rotate, the accommodating space 270 can accommodate the electric devices on the driving circuit board 27. For example, the capacitor, the battery 29 and other electrical components on the driving circuit board 27 may be accommodated in the accommodating space 270, so as to avoid interference between these components and the housing 11 of the power module 100, and effectively utilize the space of the driving circuit board 27 for accommodating the electrical components, so that the power module 100 has a more compact structure and a smaller volume.

Note that, in the embodiment of the present application, the through hole 121 also penetrates through the driving circuit board 27. Of course, in other embodiments, the vias 121 may pass through the driver circuit board 27 around the edge of the driver circuit board 27.

Specifically, the driving circuit board 27 is stacked opposite to the circuit board assembly 24, and the through hole 121 may penetrate the driving circuit board 27. A large-area accommodating space 270 is formed between the driving circuit board 27 and the circuit board assembly 24, so as to accommodate large-area devices such as a large-capacity filter capacitor and a power supply of the driving circuit board 27.

In addition, a microprocessor unit, a driving power MOS (Field effect transistor) device unit, a capacitor, and other devices required by a motor driving program for operating a Field-Oriented Control (FOC) motor are also disposed on the driving circuit board 27.

Referring to fig. 3, in some embodiments, the power module 100 may include a battery 29 disposed on the driving circuit board 27, the battery 29 is disposed in the accommodating space 270, and the battery 29 is used for supplying power to the circuit board assembly 24.

Thus, the battery 29 can keep the electric devices on the circuit board assembly 24 in a continuous and normal working state, so that the counter and the register can store the number of rotating turns of the rotor unit 16, thereby preventing the phenomenon of data loss caused by the power module 100 and an external power supply being powered off, and further accurately controlling the rotating state of the rotor unit 16.

Specifically, the connection line 28 for electrically connecting the circuit board assembly 24 with the driving circuit board 27 is further disposed in the accommodating space 270, so that the battery 29 disposed on the driving circuit board 27 can supply power to the circuit board assembly 24, the circuit board assembly 24 can always detect the number of turns and the rotation angle of the rotor unit 16, and the number of turns and the rotation angle can be recorded.

In addition, the electrical connection between the circuit board assembly 24 and the driving circuit board 27 may also enable the driving circuit board 27 to receive the position signals of the rotor unit 16 and the stator unit 15 transmitted by the circuit board assembly 24. Upon receiving the position signal, the microprocessor unit disposed on the driving circuit board 27 may operate the FOC motor driving program according to the three-phase currents of the coils in the stator unit 15, thereby driving the stator unit 15 to generate a rotating magnetic field and interacting with the rotor unit 16 to generate a torque.

Meanwhile, the battery 29 can keep the electric devices of the circuit board assembly 24 in a continuous and normal working state, so that the number of turns and the rotation angle of the rotor unit 16 can be continuously detected, and the number of turns and the rotation angle can be recorded and stored by the counter, the register and other elements, so that data loss caused by the power module 100 and an external power supply being powered off is prevented.

Referring to fig. 2 and 3, in some embodiments, the rotor unit 16 includes a rotor magnet 161 and a rotor bracket 162, and the rotor bracket 162 is connected to the rotor magnet 161. The power module 100 may further include a reducer unit 17, and the reducer unit 17 may be connected with the rotor bracket 162. And the speed reducer unit 17 may comprise a gear assembly 171, the gear assembly 171 comprising a sun gear 172 and planet gears 173, the planet gears 173 may be meshed with the sun gear 172, the sun gear 172 may be connected with the rotor holder 162, and the through hole 121 penetrates the sun gear 172.

Thus, the speed reducer unit 17 realizes the speed reduction function by the way of the planetary gear 173 set, realizes the small volume of the speed reducer unit 17 and the large speed reduction function, and can also stabilize the performance of the transmission power of the speed reducer unit 17. In addition, the through hole 121 penetrates the sun gear 172, that is, the through hole 121 penetrates the center of the speed reducer unit 17, so that the cable 41 penetrating the through hole 121 is prevented from being entangled with the speed reducer unit 17, and the safety of the power module 100 is improved.

Specifically, the rotor unit 16 includes a rotor iron ring 160, a rotor magnet 161, and a rotor holder 162. The rotor magnet 161 includes a plurality of interval distribution in order to enclose into annular slice magnet, the shape of rotor support 162 can be the hollow ring shape, rotor support 162 is last to be provided with the reference column 1621 of a plurality of rectangular shapes at the interval, a plurality of reference columns 1621 are used for fixing the rotor magnet 161 that is enclosed by the slice magnet of a plurality of interval distribution, wherein be fixed with a slice magnet between every two adjacent reference columns 1621, it links together with rotor magnet 161 to have just so realized rotor support 162, make rotor support 162 can play the effect of the motion of conduction rotor unit 16, rotor unit 16 can drive the next stage part motion of power module 100 through rotor support 162 promptly.

In particular, the second encoder magnet 23 may be sleeved on the rotor bracket 162 and move along with the movement of the rotor bracket 162, and since the movement of the rotor bracket 162 is the movement of the rotor unit 16, the second encoder magnet 23 may transmit the position of the rotor unit 16 relative to the stator unit 15 to the encoder chip disposed oppositely so as to facilitate further processing of the position signal, that is, may cooperate to detect the rotation angle and the number of rotations of the rotor unit 16.

The power module 100 is further provided with a speed reducer unit 17 for increasing the driving torque and improving the control accuracy of the robot 1000. The reducer unit 17 may be connected to the rotor unit 16, so that the rotor unit 16 may transmit the rotational speed torque to the reducer unit 17, and then the reducer unit 17 may reduce the rotational speed to a rotational speed required for final output, and may obtain a large torque.

The speed reducer unit 17 may be a planetary speed reducer, and the speed reducer unit 17 may further include a gear assembly 171 for speed reduction, and the gear assembly 171 includes a sun gear 172 and a planet gear 173.

Wherein the sun gear 172 is located in the center of the gear assembly 171, the sun gear 172 may be connected to the rotor holder 162 such that the rotor holder 162 can conduct the movement of the rotor unit 16 to drive the sun gear 172 to move, and the planet gears 173 are engaged with the sun gear 172, i.e. the planet gears 173 can be rotated around the sun gear 172 by the sun gear 172. In this way, the speed reducer unit 17 can realize the speed reduction function by means of the planetary gear 173 set, and the speed reducer unit 17 has a small volume and a large speed reduction ratio, and can also stabilize the performance of the power transmission of the speed reducer unit 17.

In particular, since the power module 100 is provided with the through hole 121 extending along the rotation axis of the rotor unit 16, the sun gear 172, which is located at the center of the gear assembly 171, can be penetrated by the through hole 121, that is, the structure of the sun gear 172 should be hollow. The hollow sun gear 172 can prevent the cable 41 passing through the through hole 121 from being entangled with the speed reducer unit 17, thereby improving the safety of the power module 100.

In some embodiments, the gear teeth of the sun gear 172 are partially embedded within the rotor bracket 162 along the axial direction of the sun gear 172.

Specifically, as mentioned above, the sun gear 172 is connected to the rotor bracket 162, then the connection may be: the teeth of the sun gear 172 are partially embedded in the rotor holder 162 in the axial direction of the sun gear 172, i.e., the sun gear 172 may be press-fitted in the rotor holder 162, or the teeth of the sun gear 172 may function as splines. In this way, the effect of the torque on the sun gear 172 is made more uniform and also the effect of increasing the transmission torque is achieved.

In some embodiments, the gear assembly 171 further comprises an annulus surrounding the sun gear 172 and the planet gears 173, both the annulus and the sun gear 172 meshing with the planet gears 173.

So, the ring gear can make speed reducer unit 17's overall structure more firm for speed reducer unit 17 is difficult for rocking when the rotation.

Specifically, the gear assembly 171 in the speed reducer unit 17 in the present embodiment further includes a ring gear that surrounds the sun gear 172 and the planet gears 173.

As mentioned above, the sun gear 172 is located in the central position of the gear assembly 171, the sun gear 172 may be connected to the rotor carrier 162, so that the rotor carrier 162 can conduct the movement of the rotor unit 16 to drive the sun gear 172, and the planet gears 173 are engaged with the sun gear 172, i.e. the planet gears 173 can be driven by the sun gear 172 to rotate around the sun gear 172, and in addition, the planet gears 173 are also engaged with the peripheral ring gear to further provide a deceleration effect. And the ring gear can make speed reducer unit 17's overall structure more firm for speed reducer unit 17 is difficult for rocking when the rotation.

Referring to fig. 2 and 4, in some embodiments, the planetary gear 173 includes a first stage gear 1730 and a second stage gear 1731, the second stage gear 1731 being connected to the first stage gear 1730. Further, the first stage gear 1730 is connected with the sun gear 172, the second stage gear 1731 is connected with the ring gear, and the diameter of the first stage gear 1730 is larger than the diameter of the second stage gear 1731.

Thus, the rotation speed of the rotor unit 16 is subjected to primary speed reduction through the first-stage gear 1730 of the planet wheel 173 connected with the sun gear 172, and then is subjected to secondary speed reduction through the second-stage gear 1731 of the planet wheel 173 connected with the ring gear, so that a good speed reduction effect is achieved, and the composite gear is formed by the first-stage gear 1730 and the second-stage gear 1731 to form the planet wheel 173, so that the diameter of the planet wheel 173 is reduced under the same speed reduction effect, and further the radial size of the speed reducer unit 17 is reduced.

As described above, the sun gear 172 has a hollow structure, and thus, in order to secure the strength of the sun gear 172, the diameter of the hollow gear is larger than that of the solid gear among the gears having the same number of teeth. If the planet wheel 173 is a single-stage gear, or the teeth of the planet wheel 173 have only one turn. Since the planet gears 173 mesh with the ring gear and the sun gear 172, respectively, the diameter of the gear assembly 171 is approximately the sum of the diameter of the sun gear 172 and the diameter of the planet gears 173 of a single stage. As can be seen, the single-stage planetary wheel 173 allows the gear assembly 171 to have a larger diameter, based on the hollow structure of the sun wheel 172.

In the embodiment of the present application, the planetary gear 173 has a two-step gear structure, or the planetary gear 173 is a compound gear, and the diameter of the second-step gear 1731 is smaller, and the first-step gear 1730 is located outside the ring gear, in this case, the diameter of the gear assembly 171 is substantially the sum of the diameter of the hollow sun gear 172 and the diameter of the second-step gear 1731 of the planetary gear 173, so that the radial size of the gear assembly 171 is smaller.

Specifically, the first-stage gear 1730 of the planetary gear 173 is connected with the sun gear 172, that is, the first-stage gear 1730 is meshed with the sun gear 172, and the sun gear 172 is connected with the rotor holder 162, so that the rotor holder 162 transmits the rotation torque provided by the rotor unit 16 and the stator unit 15 to the sun gear 172 to rotate the sun gear 172, and the sun gear 172 drives the first-stage gear 1730 to rotate to form a first-stage speed reduction.

Meanwhile, the sun gear 172 indirectly drives the second-stage gear 1731 to rotate, the second-stage gear 1731 is meshed with the gear ring to form a second-stage speed reduction to form a finally reduced rotating speed, and then the finally reduced rotating speed and torque can be output to a next-stage element, so that the speed reduction efficiency of the speed reducer unit 17 is higher. In particular, the first stage gear 1730 has a larger diameter than the second stage gear 1731.

It is understood that, in the case where the gear modules of the first-stage gear 1730 and the second-stage gear 1731 are the same, the number of teeth of the first-stage gear 1730 is larger than that of the second-stage gear 1731, so that the speed reducer unit 17 obtains a larger reduction ratio.

Referring to fig. 2 and 4, in some embodiments, the number of the planetary gears 173 may be multiple, and a plurality of planetary gears 173 are spaced around the sun gear 172. Further, the gear assembly 171 may further include a planet carrier 175, and the plurality of planet wheels 173 are mounted on the planet carrier 175.

In this way, by providing a plurality of spaced planet wheels 173 around the sun wheel 172 and providing a planet wheel carrier 175 mounting the planet wheels 173, the speed reducer unit 17 can constitute a complete compact whole, and can also transmit the rotational torque to the next stage component through the planet wheel carrier 175.

Specifically, in order to facilitate forming the speed reducer unit 17 into a compact whole and supporting the gear assembly 171, a planet carrier 175 is also provided in the gear assembly 171 of the speed reducer unit 17. The planet carrier 175 is annular in shape, and the material of the planet carrier 175 can be made of aluminum alloy to ensure sufficient hardness and durability.

Referring to fig. 5, a first accommodating groove 1750 is formed in the center of the planet carrier 175, and the first accommodating groove 1750 is used for installing the sun gear 172; the planet wheel carrier 175 is also formed with a second accommodating groove 1751 for mounting the first encoder magnet 21 on the planet wheel carrier 175, the shape and depth of the second accommodating groove 1751 matching the shape and thickness of the first encoder magnet 21; a plurality of spaced mounting holes 1752 are formed in the planet wheel support 175, and are used for being matched with the pin shaft 18 to mount a plurality of planet wheels 173 on the planet wheel support 175, and the pin shaft 18 can also be used as a torque output shaft of the planet wheels 173.

In the embodiment of the present application, the pin shaft 18 is inserted through the plurality of mounting holes 1752 arranged at intervals on the planet wheel support 175 between the planet wheel support 175 and the hollow planet wheel 173, so that the planet wheel 173 can be fixedly mounted on the planet wheel support 175.

Referring to fig. 5, in some embodiments, the power module 100 may include a flange 19, the flange 19 may be connected to the planet carrier 175 by a pin 18, and the pin 18 may protrude from a surface of the flange 19 away from the planet carrier 175.

In this way, the flange 19 is connected to the planet carrier 175 via the pin 18, so that the pin 18 can serve as a torque output shaft for the planet 173 to transmit the power of the planet 173 to the flange 19, and the projecting portion of the pin 18 can be used to position the next component connected to the flange 19.

Specifically, the flange 19 may be disposed at an end of the power module 100. The flange 19 may be in the form of an annular disc. The flange 19 may serve as the final output component of the power module 100 and may serve as the input component for the next stage of components. The pin shaft 18 can be inserted through a mounting hole 1752 formed in the planet wheel support 175 to the planet wheel support 175, and further, the pin shaft 18 can be inserted through a mounting hole 1752 also formed in the flange 19 correspondingly, so that the flange 19 is connected with the planet wheel support 175. In particular, the pin 18 may protrude from the surface of the flange 19 remote from the planet carrier 175, whereby the portion of the pin 18 protruding from the flange 19 may be used to assist in locating the next stage component to be connected to the flange 19.

In addition, still be provided with a plurality of pilot holes 1753 on the planet wheel support 175, a plurality of pilot holes 1753 can be used for the erection column 191 on cooperation screw and the flange 19 to lock flange 19 and planet wheel support 175 together, so that planet wheel support 175 can drive the flange 19 and rotate.

Referring to fig. 1 and 2, in some embodiments, the power module 100 may include a housing unit 10, the housing unit 10 may include a housing 11 and a first end cap 13, the first end cap 13 may be mounted on the housing 11, and the ring gear may be mounted on the first end cap 13. The flange 19 is rotatably arranged relative to the first end cap 13. The stator unit 15 is disposed in the housing 11 and is fixedly disposed with the housing 11.

So for power module 100's overall structure is compacter and firm, also makes the spare part to power module 100 inside can play certain guard action.

Specifically, the housing 11 includes a first side 110 and a second side 111 opposite to each other, and the structure of the housing 11 may be a large-area hollow cylinder, and the hollow portion is used for accommodating other devices of the power module 100. The housing 11 can protect the internal components from the external environment, and in order to provide the housing 11 with certain hardness and rigidity, the housing 11 can be made of an aluminum alloy material, but the housing 11 can also be made of other alloy pieces. The housing 11 may be threaded to increase friction.

Referring to fig. 6, the housing unit 10 may further include a second end cap 12, the through hole 121 penetrates through the second end cap 12, the second end cap 12 may have a circular contour, the second end cap 12 may be disposed on the first side 110 of the housing 11, and the second end cap 12 may serve as a protective cap for the internal components of the housing 11.

The second end cap 12 has a plurality of spaced attachment holes 123 formed therein, and the plurality of attachment holes 123 can be used to mate fasteners such as screws to secure the second end cap 12 to the upper stage. The second cover 12 further has a wire hole 122 spaced from the through hole 121 for receiving a wire harness electrically connected to the driving circuit board 27 of the power module 100.

In addition, an annular wall 124 is disposed within the second end cap 12, and a plurality of spaced apart threaded holes 125 are formed in the annular wall 124. The annular wall 124 is formed with a protrusion 126 at a position corresponding to the threaded hole 125, and the threaded hole 125 penetrates through the protrusion 126. When the second end cap 12 is installed, a fastener such as a screw may be used to fit the threaded hole 125.

Like this, through setting up annular wall 124 and screw hole 125 cooperation arch 126 to carry out thickening reinforcement to second end cover 12, make the installation at second end cover 12 more firm, second end cover 12 is difficult to deform, and power module 100 is also more firm.

The housing unit 10 may further include a first end cover 13, the first end cover 13 may be annular, and the first end cover 13 may serve to support internal components of the power module 100, such as the gear assembly 171, the stator unit 15, and the rotor unit 16. The first end cover 13 can be directly mounted on the housing 11, so that the first end cover 13 can be better integrated with the housing 11, and the overall structure of the power module 100 is more compact and stable. The first end cap 13 may have a ring gear mounted thereon, so that the power module 100 is more highly integrated.

A flange 19 may be disposed on the second side 111 of the housing 11, the flange 19 being rotatably disposed relative to the first end cap 13. The stator unit 15 may be disposed in the housing 11 and fixed to the housing 11, so that the housing 11 and the stator unit 15 can be well integrated together, so as to achieve a more compact overall structure of the power module 100 and to facilitate a highly integrated design of the power module 100.

Referring to fig. 2 and 3, in some embodiments, the flange 19 and the first end cap 13 may be coupled by a bearing 20, and the housing unit 10 may include a threaded cap 14 removably coupled to the first end cap 13, the threaded cap 14 abutting the bearing 20 to limit movement of the bearing 20 away from the rotor unit 16.

So, detachable mounting means makes it be convenient for link together screw cap 14 and first end cap 13, and screw cap 14's setting can play and have certain limiting displacement to bearing 20.

Specifically, a bearing 20 is further disposed between the flange 19 and the first end cover 13, the flange 19 may be connected to the first end cover 13 through the bearing 20, wherein the bearing 20 may be a roller bearing. Because the first end cover 13 is provided with the gear ring, and the gear assembly 171 is in rotational contact with the flange 19, the arrangement of the bearing 20 can better reduce the friction force during the movement process, and ensure the rotation precision of the power module 100. Meanwhile, when the flange 19 is impacted by collision, falling and the like, the impact force can be buffered on the bearing 20, so that the purpose of protecting devices such as gears and the like with weak inside is achieved.

The screw cap 14 may be in the form of a hollow ring, and the inner surface of the screw cap 14 is a screw surface, so that when the flange 19 is engaged in the screw cap 14 and the first end cap 13 is fixedly connected to the screw cap 14, the friction between the two components can be increased, and the two components can be tightly and firmly combined. The screw cap 14 may also serve to fix the bearing 20, and the screw cap 14 may abut against the bearing 20 to limit the bearing 20 from moving away from the rotor unit 16, while ensuring that the bearing 20 and the housing 11 of the power module 100 fuse into one rigid body.

Referring to fig. 7, in some embodiments, the rotor support 162 includes a support surface facing the gear assembly 171, the support surface being provided with a fan structure 1622, the fan structure 1622 creating an airflow during rotation of the rotor support 162.

Specifically, flabellum structure 1622's quantity can be a plurality ofly, and flabellum structure 1622 can be streamlined sand grip, and flabellum structure 1622 that a plurality of intervals set up can form the air current at rotor support 162 pivoted in-process to thereby play supplementary radiating effect and improve power module 100's radiating effect. In particular, blade structure 1622 is curved, which prevents vortex flow during the flow guiding process and reduces noise generated by power module 100.

Referring to fig. 2 and 3, the power module 100 may further include a hollow tube 30, and the hollow tube 30 is disposed through the through hole 121.

In this way, the provision of hollow tube 30 can further prevent cable 41 of power module 100 from being entangled, and avoid damage to cable 41.

Specifically, the hollow tube 30 may be a cylinder with a hollow structure, and the hollow tube 30 may be a plastic or aluminum alloy piece, and may be made of any material according to actual needs. When hollow tube 30 is not provided, cable 41 of power module 100 is directly received in through hole 121, so that cable 41 may also rotate following rotation of rotor unit 16 to cause winding when the power components inside power module 100 rotate, and cable 41 may be easily damaged by friction with the internal components. Then, the provision of hollow tube 30 may serve to accommodate cable 41 of the next stage power module 100, further prevent cable 41 of power module 100 from being entangled, and avoid damage to cable 41, wherein cable 41 may serve to provide a power signal to the next stage power module 100.

Referring to fig. 8 and 9, in an embodiment of the present disclosure, a robot 1000 is provided, where the robot 1000 includes a main body 200, a first power module 300, and a second power module 400. Wherein the first power module 300 is connected to the main body 200, and the first power module 300 may include the power module 100 of any of the above embodiments; the second power module 400 may be connected to the first power module 300, and the second power module 400 includes a cable 41, and the cable 41 may be connected to the main body 200 through the through hole 121.

Thus, the robot 1000 can be driven to move by the cooperation of the first power module 300 and the second power module 400, and the cable 41 of the second power module 400 can be accommodated in the through hole 121, so as to avoid interference to the movement of the robot 1000.

Specifically, in fig. 8, the plurality of first power modules 300 and the plurality of second power modules 400 cooperate to drive the robot 1000 to walk on four feet. The first power module 300 may be connected to the main body 200, i.e., the trunk of the robot 1000, and the first power module 300 may include the power module 100 of any of the above embodiments, for example, the housing unit 10, the stator unit 15, the rotor unit 16, the reducer unit 17, the flange 19, and the like. As mentioned above, the flange 19 of the first power module 300 can be used as an input component of the second power module 400 to provide power to move the second power module 400, that is, the second power module 400 can be connected to the first power module 300 through the flange 19.

Particularly, as shown in fig. 9, the cable 41 for electrically connecting the second power module 400 with the main body 200 may be inserted through the through hole 121 between the first power module 300 and the second power module 400, so as to prevent the cable 41 from being exposed to interfere with the movement of the robot 1000, thereby reducing the potential safety hazard during the movement of the robot 1000.

Referring to fig. 9, in some embodiments, the first power module 300 may include a flange 19 and a plurality of pins 18, the pins 18 protrude from a surface of the flange 19 away from the stator unit 15, the second power module 400 may include an end cover 40, the end cover 40 is formed with a plurality of positioning holes 42, and the plurality of pins 18 may be inserted into the positioning holes 42.

In this manner, the projecting portion of the pin 18 may have a locating function to assist in securing the end cap 40 to the flange 19.

Specifically, a plurality of pins 18 may fixedly mount the planet carrier 175 and the flange 19 together, and the pins 18 may protrude from the surface of the flange 19 away from the stator unit 15, so that the protruding portions of the pins 18 may be used to match the positioning holes 42 to assist in positioning the end cap 40 connected to the flange 19. In this way, the pin 18 is used to fix the planet carrier 175, the flange 19 and the end cover 40, so that the first power module 300 and the second power module 400 can form a compact whole.

Referring to fig. 8 and 9, in some embodiments, the flange 19 of the first power module 300 and the end cap 40 of the second power module 400 may be fixedly connected by a fastener.

Thus, the flange 19 of the first power module 300 can be fixedly connected with the end cover 40 of the second power module 400, so that the first power module 300 can drive the second power module 400 to move.

Specifically, the fastening members may be screws, and a plurality of fixing holes 190 are correspondingly formed in the flange 19 of the first power module 300 and the end cover 40 of the second power module 400, and the plurality of fixing holes 190 may cooperate with the fastening members to fixedly connect the flange 19 and the end cover 40 together. In this way, the flange 19 can be used as an output component of the first power module 300 and an input component of the second power module 400 at the same time, so that the cascade structure of the robot 1000 is reduced, the structure of the robot 1000 is more compact, and the cost is also reduced.

Referring to fig. 8, in some embodiments, the robot 1000 further includes a third power module 500 and an actuator 600, wherein the third power module 500 is disposed in the body and connected to the first power module 300. The second power module 400 is connected to the actuator 600. The second power module 400 is used for driving the actuating component 600 to move, and the third power module 500 is used for driving the first power module 300, the second power module 400 and the actuating component 600 to move integrally.

In the embodiment of the present application, the rotation axis of the third power module 500 intersects with the rotation axis of the first power module 300, for example, the rotation axis of the third power module 500 and the rotation axis of the first power module 300 may be perpendicular to each other. Under the action of the common driving of the first power module 300, the second power module 400 and the third power module 500, the executing component 600 can complete actions such as jumping and walking, so that the robot 1000 can realize a predetermined function.

In summary, the present embodiment provides a power module 100 and a robot 1000. The power module 100 may include a housing unit 10, a stator unit 15, a rotor unit 16, a first encoder magnet 21, a circuit board assembly 24, a second circuit board 26, a driving circuit board 27, a speed reducer unit 17, and a flange 19. The second circuit board 26 is provided with a plurality of hall elements 22 opposite to the first encoder magnet 21, and is used for detecting the number of rotation turns of the rotor unit 16. The power module 100 may further have a through hole 121, and the through hole 121 penetrates through the power module 100. The robot 1000 may include a main body 200, a first power module 300, a second power module 400, and a third power module 500.

The housing unit 10 includes a housing 11, a second end cap 12, a first end cap 13, and a screw cap 14. The housing 11 has opposite first and

second sides

110 and 111, the second end cap 12 is mounted to the first side 110 of the housing 11, the first end cap 13 is mounted to the housing 11 opposite the second end cap 12, and the threaded cap 14 is removably mounted to the first end cap 13.

The stator unit 15 may include a stator coil, and the stator unit 15 may be fixed to the housing 11. The rotor unit 16 includes a rotor iron ring 160, a rotor magnet 161, and a rotor holder 162. The rotor holder 162 is connected with the rotor magnet 161, and the rotor iron ring 160, the rotor magnet 161 and the rotor holder 162 together form the basic structure of the external rotor motor. The stator unit 15 and the rotor unit 16 are responsible for power generation together, and constitute the basic structure of the outer rotor brushless motor.

The speed reducer unit 17 comprises a gear assembly 171, which gear assembly 171 may comprise a sun gear 172, a plurality of planet gears 173, a ring gear and a planet gear carrier 175. The sun gear 172, the planet gears 173, the ring gear and the planet gear carrier 175 together form a planetary reducer. And the sun gear 172 is connected to the rotor carrier 162 in the rotor unit 16, a plurality of planet gears 173 are each connected to the sun gear 172 and mounted on a planet gear carrier 175, and the annulus may be mounted on the first end cap 13 in the housing 11 unit, the planet gears 173 also being in mesh with the sun gear 172 and the annulus respectively.

The power module 100 further includes a second encoder magnet 23 for detecting the number of turns and the angle of rotation of the rotor unit 16 in cooperation with the circuit board assembly 24.

A flange 19 may be provided at the end of the power module 100, i.e. on the second side 111 of the housing 11, and the flange 19 may be connected to the reducer unit 17, e.g. the flange 19 may be connected to the planet carrier 175. The rotor unit 16 can be rotated together with the flange 19 via the reduction gear unit 17, i.e. the flange 19 can be rotated relative to the first end cap 13 in the housing unit 10, and the flange 19 is also inserted into the screw cap 14 of the housing unit 10.

In order to prevent the cable 41 of the second power module 400 connected to the first power module 300 from being exposed to the outside to hinder the movement of the robot 1000 and damage the electric wires, the cable 41 may be received in the through hole 121, and a hollow tube 30 may be further provided to further prevent the cable 41 from being entangled.

The operation principle of the power module 100 according to the embodiment of the present application will be briefly described below: the stator unit 15 is fixed on the housing unit 10, and the rotor iron ring 160, the rotor magnet 161 and the rotor bracket 162 constitute the rotor unit 16, forming the basic structure of the external rotor motor. The stator unit 15 and the rotor unit 16 are responsible for power generation of the power module 100, and constitute a basic structure of the outer rotor brushless motor.

According to the brushless motor driving principle, the brushless motor normally rotates, requiring the precise absolute position of the stator unit 15 and the rotor unit 16 to be known. The encoder chip on the circuit board assembly 24 may then cooperate with the second encoder magnet 23 to form a motor-end absolute position encoding device, i.e., a motor-end encoder, of annular hollow configuration for providing an absolute positional relationship of the motor rotor unit 16 and the stator unit 15. The circuit board assembly 24 connects the position signal with a driving circuit board 27 through a connecting line 28, and an MCU unit and a driving power MOS device unit, a filtering large-capacity capacitor, etc. required by the FOC circuit of the motor are arranged on the driving circuit board 27.

The driving circuit board 27 and the circuit board assembly 24 are separately arranged, a large space is reserved between the two circuit boards, and large-volume components such as a backup battery 29 of the circuit board assembly 24 can be conveniently accommodated.

The driving circuit board 27 can drive the rotor unit 16 to rotate, the driving circuit board 27 is electrically connected with the circuit board assembly 24, and when the driving circuit board 27 receives the position signal transmitted by the circuit board assembly 24, the microprocessor unit operates the FOC motor driving program according to the three-phase current of the stator unit 15, so as to drive the stator unit 15 to generate a rotating magnetic field and interact with the rotor unit 16 to generate torque.

The torque generated by the rotor unit 16 is subjected to a first-stage speed reduction by the sun gear 172 and the first-stage gear 1730 of the planetary gear 173, and then subjected to a second-stage speed reduction by the second-stage gear 1731 of the planetary gear 173 and the ring gear. The two-stage deceleration torque is output through a pin 18 penetrating through the shaft sleeve of the planet wheel 173.

It should be noted that in the prior art, if only the absolute position encoder is used, the absolute position encoder can only feed back a value of 0-360 degrees without external power supply, i.e. return to zero after more than one turn (i.e. 360 degrees), which only satisfies the precise range of 0-360 degrees between the stator unit 15 and the rotor unit 16 of the precise feedback motor, i.e. the absolute position encoder can only measure the rotation angle of the rotor unit 16.

Because the power module 100 further comprises the speed reducer unit 17 and the flange 19, wherein the speed reducer unit 17 is used for increasing the driving torque to improve the control precision of the robot 1000, and the flange 19 can be used as a component of the power module 100 for finally outputting power, so that the rotating speed of the power module 100 output through the flange 19 is the rotating speed after speed reduction.

For example, in the present embodiment, a 6-fold speed reduction ratio is adopted, that is, the motor rotates 6 times by 0-360 degrees, and the final output of the flange 19 rotates 1 time by 0-360 degrees, while the final joint angle of the output of the flange 19 is used in the present application, so that a sensor is necessary to measure the absolute position of 0-360 degrees of the output of the flange 19. According to the above description, the encoder chip only has the absolute encoding function, and cannot represent the mechanical angle of the flange 19, because the motor rotates a full circle 360 degrees absolute position, and after the motor is decelerated according to the 6 times speed reduction ratio, the flange 19 only rotates 60 degrees, that is, only represents 60 degrees of the flange 19. It can be seen that the flange 19 can be divided into 6 successive 60 degree zones during a single rotation, and that measuring the rotation angle in the range of 0-360 degrees alone does not allow precise distinction between the zones.

Then, due to the integration of the hall sensor in the encoder chip, the number of revolutions of the rotor unit 16 can be measured, thus distinguishing the area in which the flange 19 is located. The encoder chip in the circuit board assembly 24 can measure the number of revolutions of the rotor unit 16 by measuring the magnetic pole position of the annular second encoder magnet 23. Also included in the circuit board assembly 24 is a counter that records the number of turns measured by the encoder chip.

The battery 29 disposed on the driving circuit board 27 can supply power to the circuit board assembly 24 through the connection line 28, so that the electric devices of the circuit board assembly 24 can keep a continuous normal working state, thereby continuously detecting the number of turns and the rotation angle of the rotor unit 16, and the number of turns and the rotation angle can be recorded and stored by the counter, the register and other elements, thereby preventing the power module 100 from generating data loss after being powered off from an external power supply.

In particular, in consideration of the insufficient capacity of the battery 29 for supplying power to the circuit board assembly 24 or other abnormal conditions, which may cause the circuit board assembly 24 to fail to operate normally, the second circuit board 26 and the plurality of hall elements 22 are further provided as a second set of measurement scheme to ensure the operational reliability of the power module 100, and the plurality of hall elements 22 are provided on the second circuit board 26 to cooperate with the first encoder magnet 21 provided on the planet carrier 175 to continuously detect the number of rotations of the rotor unit 16.

The power module 100 is further provided with a hollow pipe 30, and the hollow pipe 30 penetrates through the whole power module 100 through the through hole 121. In order to accommodate hollow tube 30, all components that are passed through are designed as hollow rings, such as sun gear 172, planet gears 173, rotor carrier 162, first end cap 13, second end cap 12, etc. Hollow tube 30 may be fixed to the inner ring of hollow tube bearing 32 via adapter 31, thereby protecting cable 41 housed inside hollow tube 30 from friction of inner cable 41 due to rotation of rotor unit 16 and rotation of flange 19.

In addition, the large moment after deceleration is output through the pin shaft 18 penetrating through the planet wheel bracket 175 and the flange 19, the pin shaft 18 can be directly inserted into the end cover 40 part of the second power module 400, and then the end cover 40 and the flange 19 are tightly assembled by inner screws. Thus, the two power parts can be connected together without additional devices.

The power cable 41 and the electrical signal of the first power module 300 are input through the wire guide 122, and the cable 41 of the second power module 400 can pass through the whole first power module 300 through the through hole 121 and directly enter the inside of the second power module 400 through the end cover 40 of the second power module 400.

In particular, it should be noted that the decelerated torque is output by the flange 19, and when the external collision or drop occurs, the flange 19 needs to bear the impact, so that the flange 19 is matched with the bearing 20 capable of resisting the axial direction and the radial direction, and the output torque can be output efficiently, and the impact can be buffered on the bearing 20 without damaging the gear assembly 171 and other devices with weak internal parts.

The screw caps 14 respectively fix the outer rings of the bearings 20, ensure that the bearings 20 and the housing 11 are fused into a rigid body, and are easy to disassemble and assemble.

In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A power module, comprising:

a stator unit;

the power module is provided with a through hole which penetrates through the stator unit and the rotor unit and extends along the rotating axis of the rotor unit;

a first encoder magnet connected to the rotor unit; and

the Hall elements are arranged around the rotating axis of the rotor unit at equal angles, and the Hall elements are matched with the first encoder magnet to detect the number of rotating turns of the rotor unit.

2. The power module of claim 1, wherein the power module includes a second encoder magnet and a circuit board assembly, the through hole extends through the second encoder magnet and the circuit board assembly, and the circuit board assembly cooperates with the second encoder magnet to detect a number of rotations and a rotation angle of the rotor unit.

3. The power module as claimed in claim 2, wherein the circuit board assembly includes a first circuit board and an encoder chip disposed on the first circuit board, the encoder chip cooperating with the second encoder magnet to detect the number of rotations and the rotation angle of the rotor unit.

4. The power module of claim 3, wherein the power module includes a second circuit board stacked with the first circuit board, the plurality of Hall elements are disposed on the second circuit board, and the through-holes extend through the second circuit board.

5. The power module according to claim 2, wherein the power module comprises a driving circuit board stacked with the circuit board assembly, the driving circuit board is used for driving the rotor unit to rotate, and an accommodating space is formed between the driving circuit board and the circuit board assembly.

6. The power module of claim 5, wherein the power module comprises a battery disposed on the driving circuit board and located in the accommodating space, the battery being configured to supply power to the circuit board assembly.

7. The power module of claim 1, wherein the rotor unit includes a rotor magnet and a rotor carrier coupled to the rotor magnet, the power module includes a speed reducer unit coupled to the rotor carrier, the speed reducer unit including a gear assembly including a sun gear and planet gears meshing with the sun gear, the sun gear being coupled to the rotor carrier, and the through-hole extending through the sun gear.

8. The power module of claim 7, wherein the gear assembly further includes a ring gear surrounding the sun gear and the planet gears, the planet gears including a first stage gear and a second stage gear connected to the first stage gear, the first stage gear connected to the sun gear, the second stage gear connected to the ring gear, the first stage gear having a diameter greater than a diameter of the second stage gear.

9. The power module of claim 8, wherein the number of the plurality of planet gears is a plurality of planet gears spaced around the sun gear, the gear assembly includes a planet gear carrier, the plurality of planet gears are mounted on the planet gear carrier, the power module includes a flange plate, the flange plate is connected to the planet gear carrier by a pin, and the pin protrudes from a surface of the flange plate away from the planet gear carrier.

10. The power module of claim 9, including a housing unit including a housing and an end cap mounted to the housing, the ring gear being mounted to the end cap, the flange being rotatably disposed relative to the end cap, the stator unit being disposed within the housing and fixedly disposed with the housing, the flange being coupled to the end cap by a bearing, the housing unit including a threaded cap removably coupled to the end cap, the threaded cap abutting the bearing to limit movement of the bearing in a direction away from the rotor unit.

11. A robot, comprising:

a main body;

a first power module coupled to the main body, the first power module comprising the power module of any of claims 1-10; and

and the second power module is connected with the first power module and comprises a cable, and the cable passes through the through hole and is connected with the main body.